Control system for permanent magnet synchronous motor

Abstract

The embodiment of the invention relates to a control system for a permanent magnet synchronous motor. The control providing includes a position acquisition unit configured to acquire code disc position data of the permanent magnet synchronous motor; the motor current sampling unit is configured to obtain current data of the permanent magnet synchronous motor; the calculation unit is electrically connected with the position acquisition unit and the motor current sampling unit, comprises a coded disc logic unit, a current sampling unit and a motor control unit, and is configured to obtain motor angle data, motor angular velocity data and motor electrical angle data according to the coded disc angle data; and a control signal for controlling the permanent magnet synchronous motor is generated according to the current sampling data, the motor angle data, the motor angular velocity data and the motor electrical angle data. According to the control system, the position feedback delay is reduced, the real-time performance of position feedback is improved, the error of the actual position is reduced, and the control precision can be effectively improved.

Description

Technical Field

[0001] Embodiments of the present disclosure generally relate to the field of control of permanent magnet synchronous motors, and more particularly to a control system for a permanent magnet synchronous motor. Background Art

[0002] With the popularity of servo motors, the requirements for motor control accuracy are getting higher and higher. An important factor affecting motor control accuracy is the position sensor. Position encoders are usually used, and the resolution requirements of encoders are getting higher and higher. In order to improve the resolution and increase the information on the code disk, the high-precision encoder requires additional processing of the read head signal, which will cause the read head to be too large. In addition, the operation cycle from the read head obtaining the code disk information to the final generation of the control signal for controlling the motor is long, which will affect the motor control, especially when the control accuracy and control bandwidth requirements are very high.

[0003] Therefore, in the current control system for permanent magnet synchronous motors, the operation cycle for generating a control signal for controlling the motor is relatively long, which affects the control accuracy. Summary of the invention

[0004] In response to the above problems, the present disclosure provides a control system for a permanent magnet synchronous motor, which reduces the time from obtaining the position information of the permanent magnet synchronous motor to outputting a control signal for controlling the permanent magnet synchronous motor, reduces the position feedback delay, improves the real-time performance of the position feedback, reduces the error of the actual position, and can effectively improve the control accuracy.

[0005] According to one aspect of the present disclosure, a control system for a permanent magnet synchronous motor is provided. The control system includes: a position acquisition unit configured to acquire the encoder position data of the permanent magnet synchronous motor; a motor current sampling unit configured to acquire the current data of the permanent magnet synchronous motor; and a calculation unit electrically connected to the position acquisition unit and the motor current sampling unit, including: an encoder logic unit configured to obtain encoder angle data according to the encoder position data; a current sampling unit configured to sample the current data at a predetermined frequency to generate current sampling data; and a motor control unit configured to obtain motor angle data, motor angular velocity data, and motor electrical angle data according to the encoder angle data, and generate a control signal for controlling the permanent magnet synchronous motor according to the current sampling data, the motor angle data, the motor angular velocity data, and the motor electrical angle data.

[0006] In some embodiments, the motor control unit includes a position loop subunit configured to obtain target angular velocity data according to the target angle and motor angle data.

[0007] In some embodiments, the motor control unit further includes a speed loop subunit configured to obtain target quadrature-axis current data according to the target angular velocity data and the motor angular velocity data.

[0008] In some embodiments, the motor control unit further includes a current loop subunit configured to perform Clarke transformation based on the current sampling data so as to obtain first current data in a rectangular coordinate system.

[0009] In some embodiments, the current loop subunit is further configured to perform a Park transformation based on the first current data and the motor electrical angle data to obtain first quadrature-axis current data and first direct-axis current data.

[0010] In some embodiments, the current loop subunit is also configured to obtain target quadrature-axis voltage data based on the target quadrature-axis current data and the first quadrature-axis current data, and to obtain target direct-axis voltage data based on the target direct-axis current data and the first direct-axis current data, and to perform space vector pulse width modulation based on the target quadrature-axis voltage data and the target direct-axis voltage data to obtain a control signal, wherein the target direct-axis current data is configured to be a predetermined value.

[0011] In some embodiments, the position loop subunit is further configured to: perform the following operations in parallel with the current loop subunit performing Clarke transformation based on the current sampling data: obtain target angular velocity data according to the target angle and motor angle data.

[0012] In some embodiments, the speed loop subunit is further configured to: perform the following operations in parallel with the current loop subunit performing Park transformation based on the first current data and the motor electrical angle data: obtain target quadrature-axis current data according to the target angular velocity data and the motor angular velocity data.

[0013] In some embodiments, the current sampling unit is further configured to perform zero drift correction on the current sampling data to obtain corrected current sampling data.

[0014] In some embodiments, the position acquisition unit includes: a reading head unit, which is arranged corresponding to the code disk of the permanent magnet synchronous motor, and is used to read the code disk information to generate an analog signal about the code disk position; and a reading conversion unit, which is arranged on the control board where the computing unit is located and is electrically connected to the computing unit, and is configured to convert the analog signal about the code disk position into code disk position data in the form of a digital signal for transmission to the computing unit; the computing unit is implemented based on a field programmable gate array.

[0015] According to the control system disclosed in the present invention, the position acquisition unit acquires the encoder position data of the permanent magnet synchronous motor; the motor current sampling unit acquires the current data of the permanent magnet synchronous motor. In addition, the calculation unit is electrically connected to the position acquisition unit and the motor current sampling unit, and the calculation unit includes an encoder logic unit, a current sampling unit, and a motor control unit. Among them, the encoder logic unit obtains the encoder angle data according to the encoder position data; the current sampling unit samples the current data at a predetermined frequency to generate current sampling data; the motor control unit obtains the motor angle data, the motor angular velocity data, and the motor electrical angle data according to the encoder angle data, and generates a control signal for controlling the permanent magnet synchronous motor according to the current sampling data, the motor angle data, the motor angular velocity data, and the motor electrical angle data. Therefore, the control system for the permanent magnet synchronous motor disclosed in the present invention reduces the time from obtaining the position information of the permanent magnet synchronous motor to outputting the control signal for controlling the permanent magnet synchronous motor, reduces the position feedback delay, improves the real-time performance of the position feedback, reduces the error of the actual position, and can effectively improve the control accuracy and control bandwidth.

[0016] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements.

[0018] Figure 1 A structural schematic diagram of a control system 100 for a permanent magnet synchronous motor according to an embodiment of the present disclosure is shown.

[0019] Figure 2 A block diagram of a position acquisition unit according to an embodiment of the present disclosure is shown.

[0020] Figure 3 A block diagram of a motor control unit of the present disclosure is shown.

[0021] Figure 4 A schematic diagram showing the time relationship of related calculations of a control system for a permanent magnet synchronous motor executing three-loop control according to an embodiment of the present disclosure is shown.

[0022] Figure 5 A schematic diagram showing a control system for a permanent magnet synchronous motor performing three-loop control according to an embodiment of the present disclosure is shown.

[0023] Figure 6 A block diagram of a computing unit according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0024] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0025] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0026] As described above, the current control system for permanent magnet synchronous motors has a long operation cycle from the reader head obtaining the code disk information to the final generation of the control signal for controlling the motor, which will affect the motor control. In addition, the reader head needs to perform additional processing on the acquired code disk information, and the resources required for the additional processing need to be set, which makes the size of the reader head too large.

[0027] In order to at least partially solve one or more of the above problems and other potential problems, an exemplary embodiment of the present disclosure proposes a control system for a permanent magnet synchronous motor. In the control system, a position acquisition unit acquires the encoder position data of the permanent magnet synchronous motor; and a motor current sampling unit acquires the current data of the permanent magnet synchronous motor. In addition, a calculation unit is electrically connected to the position acquisition unit and the motor current sampling unit, and the calculation unit includes an encoder logic unit, a current sampling unit, and a motor control unit. Among them, the encoder logic unit obtains the encoder angle data according to the encoder position data; the current sampling unit samples the current data at a predetermined frequency to generate current sampling data; the motor control unit obtains the motor angle data, the motor angular velocity data, and the motor electrical angle data according to the encoder angle data, and generates a control signal for controlling the permanent magnet synchronous motor according to the current sampling data, the motor angle data, the motor angular velocity data, and the motor electrical angle data. Therefore, the control system for a permanent magnet synchronous motor disclosed in the present disclosure reduces communication delay, which is conducive to improving the real-time performance of data communication, so as to improve control accuracy.

[0028] Figure 1The structure diagram of a control system 100 for a permanent magnet synchronous motor according to an embodiment of the present disclosure is shown. The control system 100 includes a position acquisition unit 102 , a motor current sampling unit 104 and a calculation unit 106 .

[0029] The position acquisition unit 102 is configured to acquire the position data of the encoder disk of the permanent magnet synchronous motor 200. The position acquisition unit 102 is, for example, arranged corresponding to the encoder disk 202 of the permanent magnet synchronous motor 200.

[0030] In some embodiments, the code disc 202 is a high-resolution code disc, which is fixed on the rotor of the permanent magnet synchronous motor 200 and rotates with the permanent magnet synchronous motor 200. The permanent magnet synchronous motor 200 is, for example, a three-phase permanent magnet synchronous motor. The permanent magnet synchronous motor 200 is, for example, an AC permanent magnet synchronous motor.

[0031] Figure 2 The block diagram of the position acquisition unit of the embodiment of the present disclosure is shown. The position acquisition unit 102 includes, for example, a reading head unit 122 and a reading conversion unit 124. The reading head unit 122 is arranged directly above the code disk 202, and is used to read the code disk information so as to generate an analog signal about the code disk position. The analog signal about the code disk position output by the reading head unit 122 is, for example, two sinusoidal signals (S, C) with a phase difference of 90 degrees, and a zero position signal (Z). The reading conversion unit 124 is configured to convert the analog signal about the code disk position into code disk position data in the form of a digital signal for transmission to the calculation unit 106. The reading conversion unit 124 includes, for example, a comparator and a high-speed ADC (analog-to-digital converter) chip. In some embodiments, the reading conversion unit 124 is arranged on the control board where the calculation unit 106 is located and is electrically connected to the calculation unit 106. That is, the reading head unit 122 and the reading conversion unit 124 are arranged separately, so that the volume of the reading head unit 122 can be reduced, so as to be better suitable for the situation where the installation space of the reading head is limited.

[0032] Regarding the motor current sampling unit 104, it is configured to obtain current data of the permanent magnet synchronous motor 200, for example. The motor current sampling unit 104 includes, for example, a high-speed ADC (analog-to-digital converter) chip and a sampling resistor. The motor current sampling unit 104 is used to sample the current value of the three-phase motor of the permanent magnet synchronous motor 200, and convert the sampled current value of the three-phase motor into a digital signal so as to be transmitted to the calculation unit 106.

[0033] As for the calculation unit 106 , it is electrically connected to the position acquisition unit 102 and the motor current sampling unit 104 for data transmission.

[0034] Figure 6A block diagram of a computing unit of an embodiment of the present disclosure is shown. The computing unit 106, for example, includes a code disk logic unit 162, a current sampling unit 164, and a motor control unit 166. The code disk logic unit 162 is configured to obtain code disk angle data according to the code disk position data. The current sampling unit 164 is configured to sample the current data at a predetermined frequency to generate current sampling data. The motor control unit 166 is configured to obtain motor angle data, motor angular velocity data, and motor electrical angle data according to the code disk angle data, and generate a control signal for controlling the permanent magnet synchronous motor according to the current sampling data, the motor angle data, the motor angular velocity data, and the motor electrical angle data.

[0035] In some embodiments, the calculation unit 106 is implemented based on FPGA (field programmable gate array). It should be understood that FPGA has abundant resources, and the code disk logic unit 162, the current sampling unit 164 and the motor control unit 166 can be implemented using the resources in FPGA.

[0036] The code disk logic unit 162 obtains the code disk angle data by, for example, calculating the code disk position data in the form of a digital signal from the position acquisition unit 102 through a position algorithm. It is worth noting that the code disk logic unit 162 in the reading head unit 122, the reading conversion unit 124 and the calculation unit 106 can obtain high-resolution code disk position data.

[0037] In some embodiments, the current sampling unit 164 is further configured to perform zero drift correction on the current sampling data to obtain corrected current sampling data. Accordingly, the motor control unit 166 receives the corrected current sampling data to generate a control signal for controlling the permanent magnet synchronous motor.

[0038] Figure 3 The block diagram of the motor control unit of the present disclosure is shown. The motor control unit 166 includes, for example, a position loop subunit 1662 , a speed loop subunit 1664 , and a current loop subunit 1666 .

[0039] The position loop subunit 1662 is configured to obtain target angular velocity data according to the target angle and the motor angle data. It should be understood that the motor control unit 166 obtains the motor angle data, the motor angular velocity data and the motor electrical angle data according to the encoder angle data. The position loop subunit 1662 performs a PI (proportional, integral) control operation according to the target angle and the motor angle data to obtain the target angular velocity data. The target angle is the angle that is expected to be achieved.

[0040] The speed loop subunit 1664 is configured to obtain target quadrature-axis current data according to the target angular velocity data and the motor angular velocity data.

[0041] It is worth noting that the current control adopts FOC (Field-Oriented Control) control. The current loop subunit 1666 is configured to perform Clark transformation based on the current sampling data to obtain the first current data in the rectangular coordinate system. The current loop subunit 1666 is also configured to perform Park transformation based on the first current data and the motor electrical angle data to obtain the first quadrature-axis current data and the first direct-axis current data. The current loop subunit 1666 is also configured to obtain the target quadrature-axis voltage data based on the target quadrature-axis current data and the first quadrature-axis current data, and obtain the target direct-axis voltage data according to the target direct-axis current data and the first direct-axis current data, and perform space vector pulse width modulation (SVPWM) based on the target quadrature-axis voltage data and the target direct-axis voltage data to obtain a control signal for controlling the permanent magnet synchronous motor, wherein the target direct-axis current data is configured as a predetermined value. In some embodiments, the predetermined value is, for example, 0.

[0042] Among them, the current loop subunit 1666, for example, performs PI control calculation based on the target quadrature-axis current data and the first quadrature-axis current data to obtain the target quadrature-axis voltage data, and the current loop subunit 1666, for example, performs PI control calculation based on the target direct-axis current data and the first direct-axis current data to obtain the target direct-axis voltage data.

[0043] In some embodiments, the computing unit 106 transmits the generated control signal to the motor driver 204, and the motor driver 204 drives the permanent magnet synchronous motor 200 to perform the action indicated by the control signal according to the instruction of the control signal. It is worth noting that the motor driver 204 includes a full-bridge circuit or a full-bridge integrated chip for driving the permanent magnet synchronous motor 200. The motor driver 204 can enable the computing unit 106 implemented based on FPGA to drive high voltage so as to control the permanent magnet synchronous motor 200.

[0044] In some embodiments, parallel operations can also be performed in the three-loop control to reduce the overall operation time of the three-loop control and improve the real-time performance and accuracy of the control.

[0045] Figure 4 The schematic diagram of the time relationship of the control system 100 for the permanent magnet synchronous motor of the embodiment of the present disclosure performing the related calculations of the three-loop control is shown. For example, the position loop subunit 1662 is also configured to: perform the following operations in parallel with the current loop subunit 1666 performing Clarke transformation based on the current sampling data: obtain the target angular velocity data according to the target angle and the motor angle data. It should be understood that the parallel operation of the two can reduce the overall operation time of the three-loop control and improve the real-time and precision of the control.

[0046] In some embodiments, the speed loop subunit 1664 is further configured to perform the following operations in parallel with the current loop subunit 1666 performing Park transformation based on the first current data and the motor electrical angle data: obtain target quadrature-axis current data according to the target angular velocity data and the motor angular velocity data.

[0047] It should be understood that before time T1, the current sampling unit has generated current sampling data (or corrected current sampling data), which corresponds to the box "current sampling" shown in the figure. And, before time T1, the motor control unit has obtained motor angle data, motor angular velocity data and motor electrical angle data according to the encoder angle data (i.e., the box "calculation based on encoder angle data" shown in the figure corresponds), so as to serve as the basis for subsequent three-loop control calculations.

[0048] Between time T1 and time T2, the position loop subunit 1662 executes the target angular velocity data (PI control calculation) based on the target angle and the motor angle data, and the current loop subunit 1666 performs Clarke transformation based on the current sampling data in parallel.

[0049] Between time T2 and time T3, the speed loop subunit 1664 obtains the target quadrature-axis current data (PI control calculation) according to the target angular velocity data and the motor angular velocity data, in parallel with the current loop subunit 1666 performing Park transformation based on the first current data and the motor electrical angle data.

[0050] It should be understood that the Clack transformation, Park transformation, PI control calculation (i.e., performing PI control calculation based on the target quadrature-axis current data and the first quadrature-axis current data to obtain the target quadrature-axis voltage data, and performing PI control calculation based on the target direct-axis current data and the first direct-axis current data to obtain the target direct-axis voltage data) and SVPWM (i.e., performing space vector pulse width modulation based on the target quadrature-axis voltage data and the target direct-axis voltage data) performed by the current loop subunit 1666 are completed in sequence.

[0051] Figure 5The schematic diagram of the control system 100 for a permanent magnet synchronous motor according to an embodiment of the present disclosure performing three-loop control is shown. The box "PI" represents the PI control calculation, the box "SVPWM" represents the space vector pulse width modulation, the box "current sampling" includes the motor current sampling unit 104 acquiring the current data of the permanent magnet synchronous motor 200 and the current sampling unit 164 sampling the current data according to a predetermined frequency to generate current sampling data, Ua, Ub, and Uc represent the three-phase voltage of the permanent magnet synchronous motor 200, Ia, Ib, and Ic represent the three-phase current of the permanent magnet synchronous motor 200, I*q represents the first quadrature axis current data obtained by Park transformation, I*d represents the first direct axis current data obtained by Park transformation, the target Iq represents the target quadrature axis current data, the target Id represents the target direct axis current data, Uq represents the target quadrature axis voltage data, Ud represents the target direct axis voltage data, Uα represents the data after the target quadrature axis voltage data is inversely transformed by Park, and Uβ represents the data after the target direct axis voltage data is inversely transformed by Park. It should be understood that in some embodiments, after the current loop subunit 1666 obtains the target quadrature-axis voltage data based on the target quadrature-axis current data and the first quadrature-axis current data, and obtains the target direct-axis voltage data according to the target direct-axis current data and the first direct-axis current data, the current loop subunit 1666 also performs an inverse Park transformation on the target quadrature-axis voltage data and the target direct-axis voltage data to obtain the data Uα and Uβ after the inverse Park transformation. Then, the current loop subunit 1666 performs space vector pulse width modulation (SVPWM) on the data Uα and Uβ after the inverse Park transformation to obtain a control signal for controlling the permanent magnet synchronous motor.

[0052] When the control system 100 for a permanent magnet synchronous motor according to the embodiment of the present disclosure controls the permanent magnet synchronous motor 200 , it may be executed in the following manner.

[0053] First, the reading head unit 122 of the position acquisition unit 102 reads the code disk information to generate an analog signal about the code disk position. The reading conversion unit 124 receives the analog signal about the code disk position from the reading head unit 122, performs analog-to-digital conversion, and generates code disk position data in the form of a digital signal for transmission to the calculation unit 106. The code disk logic unit 162 of the calculation unit 106 calculates the code disk position data in the form of a digital signal from the position acquisition unit 102 through a position algorithm to obtain code disk angle data. The motor control unit 166 obtains motor angle data, motor angular velocity data, and motor electrical angle data based on the code disk angle data.

[0054] The above steps are performed synchronously, for example, including: the motor current sampling unit 104 samples the current value of the three-phase motor of the permanent magnet synchronous motor 200, and converts the sampled current value of the three-phase motor into a digital signal for transmission to the calculation unit 106. The current sampling unit 164 of the calculation unit 106 samples the current data at a predetermined frequency to generate current sampling data. The current sampling unit 164 also performs zero drift correction on the current sampling data to obtain corrected current sampling data.

[0055] Then, the position loop subunit 1662 performs PI control operation according to the target angle and the motor angle data to obtain the target angular velocity data. It should be understood that the current loop subunit 1666 can perform Clarke transformation based on the current sampling data in parallel.

[0056] Next, the speed loop subunit 1664 obtains the target quadrature axis current data according to the target angular velocity data and the motor angular velocity data. It should be understood that the current loop subunit 1666 can perform the Park transformation based on the first current data and the motor electrical angle data in parallel.

[0057] Then, the current loop subunit 1666 performs PI control calculation based on the target quadrature-axis current data and the first quadrature-axis current data to obtain target quadrature-axis voltage data, and performs PI control calculation based on the target direct-axis current data and the first direct-axis current data to obtain target direct-axis voltage data.

[0058] Next, the current loop subunit 1666 performs space vector pulse width modulation (SVPWM) based on the target quadrature-axis voltage data and the target direct-axis voltage data to obtain a control signal for controlling the permanent magnet synchronous motor.

[0059] Finally, the control signal for controlling the permanent magnet synchronous motor is transmitted to the three-phase full bridge in the motor driver 204 to energize the permanent magnet synchronous motor 200 so as to generate a corresponding magnetic field to achieve control of the permanent magnet synchronous motor 200 .

[0060] During the entire control process, the time from obtaining the position information of the permanent magnet synchronous motor 200 to outputting the control signal for controlling the permanent magnet synchronous motor is minimized, the position feedback delay is reduced, the real-time performance of the position feedback is improved, and the error of the actual position is reduced, which can effectively improve the control accuracy and control bandwidth.

[0061] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

[0062] The above are only optional embodiments of the present disclosure and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A control system for a permanent magnet synchronous motor, characterized in that: include: A position acquisition unit, configured to acquire position data of a code disk of the permanent magnet synchronous motor; A motor current sampling unit is configured to obtain current data of the permanent magnet synchronous motor; as well as The calculation unit is electrically connected to the position acquisition unit and the motor current sampling unit, and includes: A code disk logic unit is configured to obtain code disk angle data according to the code disk position data; a current sampling unit configured to sample the current data at a predetermined frequency to generate current sampling data; and The motor control unit is configured to obtain motor angle data, motor angular velocity data and motor electrical angle data according to the encoder angle data, and to generate a control signal for controlling the permanent magnet synchronous motor according to the current sampling data, motor angle data, motor angular velocity data and motor electrical angle data.

2. The control system according to claim 1, characterized in that: The motor control unit includes a position loop subunit configured to obtain target angular velocity data according to the target angle and the motor angle data.

3. The control system according to claim 2, characterized in that: The motor control unit also includes a speed loop subunit configured to obtain target quadrature-axis current data according to the target angular velocity data and the motor angular velocity data.

4. The control system according to claim 3, characterized in that: The motor control unit also includes a current loop subunit configured to perform Clarke transformation based on the current sampling data so as to obtain first current data in a rectangular coordinate system.

5. The control system according to claim 4, characterized in that: The current loop subunit is further configured to perform a Park transformation based on the first current data and the motor electrical angle data to obtain first quadrature-axis current data and first direct-axis current data.

6. The control system according to claim 5, characterized in that: The current loop subunit is also configured to obtain target quadrature-axis voltage data based on the target quadrature-axis current data and the first quadrature-axis current data, and to obtain target direct-axis voltage data based on the target direct-axis current data and the first direct-axis current data, and to perform space vector pulse width modulation based on the target quadrature-axis voltage data and the target direct-axis voltage data to obtain the control signal, wherein the target direct-axis current data is configured as a predetermined value.

7. The control system according to claim 6, characterized in that: The position loop subunit is further configured to: perform the following operations in parallel with the current loop subunit performing Clarke transformation based on the current sampling data: The target angular velocity data is obtained according to the target angle and the motor angle data.

8. The control system according to claim 7, characterized in that: The speed loop subunit is further configured to: perform the following operations in parallel with the current loop subunit performing Park transformation based on the first current data and the motor electrical angle data: Target quadrature-axis current data is obtained according to the target angular velocity data and the motor angular velocity data.

9. The control system according to claim 1, characterized in that: The current sampling unit is further configured to perform zero drift correction on the current sampling data to obtain corrected current sampling data.

10. The control system according to claim 1, characterized in that: The position acquisition unit comprises: A reading head unit, arranged corresponding to the code disk of the permanent magnet synchronous motor, for reading the code disk information so as to generate an analog signal about the position of the code disk; and a reading conversion unit, which is disposed on the control board where the calculation unit is located and is electrically connected to the calculation unit, and is configured to convert the analog signal about the position of the code disk into the code disk position data in the form of a digital signal so as to be transmitted to the calculation unit; The computing unit is implemented based on a field programmable gate array.

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